CN204322080U - Production line system high-speed robot - Google Patents
Production line system high-speed robot Download PDFInfo
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- CN204322080U CN204322080U CN201420709673.XU CN201420709673U CN204322080U CN 204322080 U CN204322080 U CN 204322080U CN 201420709673 U CN201420709673 U CN 201420709673U CN 204322080 U CN204322080 U CN 204322080U
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Abstract
The utility model relates to robotics, particularly relate to production line system high-speed robot, comprise single-shaft mechanical arm, single-shaft mechanical arm comprises working slider and drives the linear electric motors of working slider rectilinear movement, working slider is connected with four axis robot, and four axis robot comprise screw mandrel and drive screw mandrel to carry out the drive unit of four free degree motions.When robot application of the present utility model is in flow production line, screw mandrel can sectional fixture, and four axis robot control the motion that this screw mandrel realizes four frees degree, and the accessory that four axis robot freely can control this holder carries out assembling, taking; Single-shaft mechanical arm then drives whole four axis robot to carry out rectilinear motion, wherein single-shaft mechanical arm uses linear electric motors as drive unit, linear electric motors high efficiency, accurately control working slider can carry out realization campaign, working slider drives whole four axis robot to move again, thus realizes the automatically working of whole piece flow production line.
Description
Technical field
The utility model relates to robotics, particularly relates to production line system high-speed robot.
Background technology
Streamline is also called assembly line, a kind of industrial mode of production, refers to that each production unit is only absorbed in the work of the some fragments of process, to increase work efficiency and output; Substantially can be divided into according to the mode of movement of streamline: this seven classes streamline of belt assembly belt, plate chain line, double-speed chain, plug-in unit line, guipure line, suspension line and cylinder streamline.Generally comprise the compositions such as traction piece, bearing carrier, drive unit, swelling device, change course device and supporting member.Streamline extensibility is high, can by Demand Design conveying capacity, transporting velocity, assembly station, and accessory (comprising snap joint, fan, electric light, socket, technique billboard, articles holding table, 24V power supply, pneumatic screwdriver etc.), therefore extensively welcomes by enterprise.But existing streamline also rests in the combination of people and machine, be merely able to realize automation to the conveying of the products such as accessory, and in the products such as accessory assembling, take, the work to select etc. still needs manual operation, its production efficiency need to improve.
Utility model content
The purpose of this utility model is to provide one to be applicable on flow production line for the deficiencies in the prior art, and can realize the robot of full-automatic operation.
For achieving the above object, production line system high-speed robot of the present utility model, comprise single-shaft mechanical arm, single-shaft mechanical arm comprises base, linear slide rail and working slider, the end of base is provided with end cap, the side of base is provided with side cover, the guide rail of linear slide rail is fixedly installed in the both sides in base, working slider is connected with the slide block of linear slide rail, the linear electric motors for driving working slider movement are provided with in base, the top of described working slider is provided with four axis robot, four axis robot comprise base, first cantilever, second cantilever and screw mandrel, base is fixedly connected with working slider, floor installation has the first rotating driving device, the top driving with this first rotating driving device that the first end of the first cantilever is positioned at base is connected, the first end of the second cantilever is provided with the second rotating driving device, the below driving with the second rotating driving device that second end of the first cantilever is positioned at the first end of the second cantilever is connected, screw mandrel is arranged in the second end of the second cantilever, second cantilever is provided with the first servomotor and the second servomotor, the main shaft of the first servomotor is connected with the first pinion, the main shaft of the second servomotor is connected with the second pinion, screw mandrel is bolted with travelling nut and ball spline, travelling nut is fixedly connected with first gear, ball spline is fixedly connected with second largest gear, first gear and second largest gear are all sheathed on outside screw mandrel, first pinion is connected by the first belt winding with first gear, and the second pinion is connected by the second belt winding with second largest gear.
Preferably, the top of described base is provided with dustproof steel belt, working slider is provided with adhesive strong magnet, dustproof steel belt is covered on two side covers and two end cap, dustproof steel belt fits in the surface of working slider and is connected with adhesive strong magnet magnetic absorption, and dustproof steel belt and base, two side covers, two end cap form a space sealed.
Preferably, described side cover comprises interconnective perpendicular folding part and cross break portion, and perpendicular folding part is connected with the side of base, and cross break portion extends inside base, and dustproof steel belt is covered on two side covers and is fitted and connected with cross break portion.
Preferably, the cross break portion of described side cover offers groove, has sealing magnetic stripe in groove, and dustproof steel belt is connected with sealing magnetic stripe magnetic absorption.
Preferably, described working slider is provided with inclined-plane towards movable direction, and adhesive strong magnet is installed on this inclined-plane.
Preferably, the two ends of described dustproof steel belt are fixedly connected on two end cap by press strip pressing.
Preferably, described linear electric motors comprise electric mover and motor stator, and motor stator is fixedly installed in base, and electric mover is fixedly connected with working slider.
Preferably, described first rotating driving device and the second rotating driving device reductor that includes the 3rd servomotor and be connected with the main shaft of the 3rd servomotor.
Preferably, described reductor is harmonic wave speed reducing machine.
Preferably, the top of described second cantilever is covered with shell, and the first servomotor and the second servomotor are all positioned at shell.
The beneficial effects of the utility model: a kind of robot of the present utility model, when it is applied to flow production line, various executive item (such as fixture, sucker etc.) can be installed in the bottom of screw mandrel, four axis robot control the motion that this screw mandrel realizes four frees degree, when holder lives various accessory, four axis robot freely can control this accessory and carry out assembling, taking, or select this all kinds of accessory; Single-shaft mechanical arm then drives whole four axis robot to carry out rectilinear motion, wherein single-shaft mechanical arm uses linear electric motors as drive unit, linear electric motors high efficiency, accurately control working slider can carry out realization campaign, working slider drives whole four axis robot to move again, thus realizes the automatically working of whole piece flow production line.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot of the present utility model.
Fig. 2 is the structural representation of the single-shaft mechanical arm of robot of the present utility model.
Fig. 3 is the STRUCTURE DECOMPOSITION schematic diagram of the single-shaft mechanical arm of robot of the present utility model.
Fig. 4 is the side view after the single-shaft mechanical arm of robot of the present utility model hides end cap.
Fig. 5 is the structural representation of the side cover of the single-shaft mechanical arm of robot of the present utility model.
Fig. 6 is the structural representation after the single-shaft mechanical arm of robot of the present utility model hides end cap, side cover and dust cap.
Fig. 7 is the structural representation after the single-shaft mechanical arm of robot of the present utility model hides working slider and dust cap.
Fig. 8 is the structural representation of four axis robot of robot of the present utility model.
Fig. 9 is the STRUCTURE DECOMPOSITION schematic diagram of four axis robot of robot of the present utility model.
Figure 10 is that the first servomotor of four axis robot of robot of the present utility model drives with screw mandrel the structural representation be connected with the second servomotor.
Reference numeral comprises:
1-single-shaft mechanical arm 2-four axis robot, 10-base
11-linear slide rail, 12-working slider, 13-linear electric motors
14-dustproof steel belt, 15-sealing magnetic stripe, 16-dust cap
17-press strip, 18-mover connecting plate, 20-mount pad
21-the first cantilever 22-the second cantilever 23-screw mandrel
24-the first rotating driving device 25-the second rotating driving device 26-the first servomotor
27-the second servomotor 28-shell 101-end cap
102-side cover, 111-guide rail, 112-slide block
121-adhesive strong magnet, 122-inclined-plane, 131-electric mover
132-motor stator 241-the three servomotor 251-reductor
261-the first pinion 262-first gear 263-the first belt
264-travelling nut 271-the second pinion, 272-second largest gear
273-the second belt 274-ball spline 1021-perpendicular folding part
1022-cross break portion, 1023-groove.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail.
embodiment one.
As shown in Figures 1 to 8, production line system high-speed robot of the present utility model, comprise single-shaft mechanical arm 1, single-shaft mechanical arm 1 comprises base 10, linear slide rail 11 and working slider 12, the end of base 10 is provided with end cap 101, the side of base 10 is provided with side cover 102, the guide rail 111 of linear slide rail 11 is fixedly installed in the both sides in base 10, working slider 12 is connected with the slide block 121 of linear slide rail 11, the linear electric motors 13 for driving working slider 12 movement are provided with in base 10, the top of described working slider 12 is provided with four axis robot 2, four axis robot 2 comprise base 10, first cantilever 21, second cantilever 22 and screw mandrel 23, base 10 is fixedly connected with working slider 12, base 10 is provided with the first rotating driving device 24, the top driving with this first rotating driving device 24 that the first end of the first cantilever 21 is positioned at base 10 is connected, the first end of the second cantilever 22 is provided with the second rotating driving device 25, the below driving with the second rotating driving device 25 that second end of the first cantilever 21 is positioned at the first end of the second cantilever 22 is connected, screw mandrel 23 is arranged in the second end of the second cantilever 22, second cantilever 22 is provided with the first servomotor 26 and the second servomotor 27, the main shaft of the first servomotor 26 is connected with the first pinion 261, the main shaft of the second servomotor 27 is connected with the second pinion 271, screw mandrel 23 is bolted with travelling nut 264 and ball spline 274, travelling nut 264 is fixedly connected with first gear 262, ball spline 274 is fixedly connected with second largest gear 272, first gear 262 and second largest gear 272 are all sheathed on outside screw mandrel 23, first pinion 261 is connected by the first belt 263 winding with first gear 262, and the second pinion 271 is connected by the second belt 273 winding with second largest gear 272.
When robot application of the present utility model is in flow production line, various executive item (such as fixture etc.) can be installed in the bottom of screw mandrel 23, four axis robot 2 control the motion that this screw mandrel 23 realizes four frees degree, when holder lives various accessory, four axis robot 2 freely can control this accessory and carry out assembling, taking, or select this all kinds of accessory; Single-shaft mechanical arm 1 then drives whole four axis robot 2 to carry out rectilinear motion, wherein single-shaft mechanical arm 1 uses linear electric motors 13 as drive unit, linear electric motors 13 high efficiency, accurately control working slider 12 can carry out realization campaign, working slider 12 drives whole four axis robot 2 to move again, thus realizes the automatically working of whole piece flow production line.
See Fig. 6 to Fig. 8, four axis robot 2 specific works are as follows: the first rotating driving device 24 drives the first cantilever 21 to be rotated centered by the first end of the first cantilever 21, realize controlling screw mandrel 23 and carry out circular motion centered by the first end of the first cantilever 21, namely the motion of the first axle is realized, overall length after the motion of this axle is connected with the second cantilever 22 with the first cantilever 21, for scope of activities, all can carry out circular motion freely within the scope of this; Second rotating driving device 25 drives the second cantilever 22 to be rotated centered by the first end of the second cantilever 22, realize controlling screw mandrel 23 and carry out circular motion centered by the first end of the second cantilever 22, namely the motion of the second axle is realized, the motion of this axle for scope of activities, all can carry out circular motion freely with the length of the second cantilever 22 within the scope of this; The first pinion 261 be connected with the main shaft of this first servomotor 26 is driven to rotate when first servomotor 26 works, first pinion 261 drives first gear 262 to rotate by the first belt 263, and then the travelling nut 264 to be fixedly connected with first gear 262 rotates, realize in travelling nut 264 rotation process controlling moving up and down of screw mandrel 23, namely the motion of the 3rd axle is realized, wherein, first pinion 261 and first gear 262 can realize the speed of the main axis of adjustment first servomotor 26, play the effect of speed change; Second servomotor 27 works and drives the second pinion 271 be connected with the main shaft of this second servomotor 27 to rotate, second pinion 271 drives second largest gear 272 to rotate by the second belt 273, and then the ball spline 274 to be fixedly connected with second largest gear 272 rotates, ball spline 274 realizes the rotary motion controlling screw mandrel 23 in rotation process, namely the motion of the 4th axle is realized, wherein, second pinion 271 and second largest gear 272 can realize the speed of the main axis of adjustment second servomotor 27, play the effect of speed change; By the cooperation of the first rotating driving device 24, second rotating driving device 25, first servomotor 26 and the second servomotor 27, realize the four axes motion controlling screw mandrel 23 most.
In the present embodiment, the top of described base 10 is provided with dustproof steel belt 14, working slider 12 is provided with adhesive strong magnet 121, dustproof steel belt 14 is covered on two side covers 102 and two end cap 101, dustproof steel belt 14 fits in the surface of working slider 12 and is connected with adhesive strong magnet 121 magnetic absorption, and dustproof steel belt 14 and base 10, two side cover 102, two end cap 101 form a space sealed; Described linear electric motors 13 comprise electric mover 131 and motor stator 132, and motor stator 132 is fixedly installed in base 10, and electric mover 131 is fixedly connected with working slider 12.
See Fig. 2 to Fig. 5, single-shaft mechanical arm 1 specific works is as follows: linear electric motors 13 drive working slider 12 to carry out rectilinear motion with the guiding of linear guides 111, working slider 12 is in the process of motion, all the time adsorb with the surface magnetism of working slider 12 under the effect of the adhesive strong magnet 121 that dustproof steel belt 14 is installed on working slider 12 and be connected, guarantee dustproof steel belt 14 and base 10, two side covers 102, two end cap 101 forms the space of a sealing in the course of the work all the time, extraneous foreign material are avoided to enter in base 10, prevent external impurities from having influence on the work of drive unit and the linear slide rail 11 installed in base 10, working slider 12 for installing various work executive item, or directly by needing to carry out to transport, the article of movement are positioned over this working slider 12 and realize automation transmission, wherein, when linear electric motors 13 work, when electric mover 131 moves relative to motor stator 132, because of electric mover 131 in motor stator 132, be in unsettled state under move, during work, electric energy is directly changed into rectilinear motion mechanical energy, can not there is friction between electric mover 131 and motor stator 132, moves more smooth, meanwhile, the longer service life of linear electric motors 13 is guaranteed, more specifically, motor stator 132 is fixedly installed in base 10 and keeps stable state, and electric mover 131 drives working slider 12 to move relative to motor stator 132, and then achieves and control with the movement of four axis robot 2 that working slider 12 is connected.
Single-shaft mechanical arm 1 in the utility model uses linear electric motors 13 to have the following advantages as drive unit tool: one, linear electric motors 13 stability is stronger; Two, linear electric motors 13 long service life; Three, linear electric motors 13 positioning precision is high, and positioning precision can reach 0.5 μm, and the dynamic characteristic of moving component is good, responds sensitive, mixes becoming more meticulous of INTERPOLATION CONTROL OF PULSE, can realize nanoscale and control; Four, stroke is unrestricted, according to actual needs, can by travel settings long enough, technique is simple; Five, acceleration can become larger, and speed can become faster, and production efficiency is higher.
In the present embodiment, the top of described electric mover 131 is fixedly connected with mover connecting plate 18, and mover connecting plate 18 is fixedly connected with working slider 12; Particularly, indirectly make electric mover 131 be connected with working slider 12 by mover connecting plate 18, the stability in working slider 12 moving process can be strengthened in mover connecting plate 18 1 aspect set up; On the other hand, according to need of production, by setting up mover connecting plate 18 to increase the height etc. after working slider 12 installation, reasonable in design, result of use is good.
In the present embodiment, described side cover 102 comprises interconnective perpendicular folding part 1021 and cross break portion 1022, perpendicular folding part 1021 is connected with the side of base 10, and cross break portion 1022 extends inside base 10, and dustproof steel belt 14 is covered on two side covers 102 and is fitted and connected with cross break portion 1022; Concrete, by the setting that cross break portion 1022 extends to the inner side of base 10, can conveniently when dustproof steel belt 14 be covered on two side covers 102 and two end cap 101, dustproof steel belt 14 can directly be fitted and connected in this cross break portion 1022, dustproof steel belt 14 is avoided to occur gap with the side junction of base 10, thus the space of more easily assembling formation one sealing.
In the present embodiment, the cross break portion 1022 of described side cover 102 offers groove 1023, and have sealing magnetic stripe 15 in groove 1023, dustproof steel belt 14 is connected with sealing magnetic stripe 15 magnetic absorption, concrete, by installing sealing magnetic stripe 15 in the groove 1023 offered in cross break portion 1022, guarantee that dustproof steel belt 14 is except the part that the upper surface with working slider 30 is fitted, the both sides of other parts are all connected with sealing magnetic stripe 15 magnetic absorption, guarantee further in the moving process of working slider 12, dustproof steel belt 14 is fitted and connected all the time with the cross break portion 1022 of side cover 102 and does not move by working slider 12 and cause occurring gap, at adhesive strong magnet 121 and dustproof steel belt 14, and under the acting in conjunction that is connected with the magnetic absorption of dustproof steel belt 14 of sealing magnetic stripe 15, all the time dustproof steel belt 14 and base 10 is guaranteed, two side covers 102, two end cap 101 forms the space of a sealing, avoid extraneous floating foreign material to enter in the base 10 of single-shaft mechanical arm, play dust-proof effect.
In the present embodiment, described working slider 12 is provided with inclined-plane 122 towards movable direction, and adhesive strong magnet 121 is installed on this inclined-plane 122; Concrete, working slider 12 is positioned at the top of base 10 and side cover 102, and dustproof steel belt 14 is covered on the upper surface that side cover 102 also partly fits in working slider 12, because working slider 12 and side cover 102 form a difference in height, the inclined-plane 122 arranged by working slider 12, dustproof steel belt 14 can be made to fit in the upper surface of working slider 12 and perfect transition to the top being covered on side cover 102, guarantee that dustproof steel belt 14 does not occur gap between working slider 12 and side cover 102, thoroughly avoid external impurities to enter in base 10, strengthen dust-proof effect further.
In the present embodiment, the top of described working slider 12 is covered with the dust cap 16 for sealing working slider 12 surface; Concrete, can prevent extraneous foreign material from contacting with the part dustproof steel belt 14 fitting in working slider 12 surface by arranging of dust cap 16, the magnetic absorption avoiding foreign material to affect the adhesive strong magnet 121 that dustproof steel belt 14 is installed with working slider 12 is connected, and then guarantees that part dustproof steel belt 14 can be fitted the surface of working slider 12 all the time.
Concrete, tilt in the moving process of working slider 12 for preventing the rear and front end of dustproof steel belt 14, by setting up two press strips 17, the two ends pressing of dustproof steel belt 14 is fixedly connected in two end cap 101, thus can effectively prevent working slider 12 two ends in moving process from occurring tilting, and then guarantee that the two ends place of dustproof steel belt 14 has good sealing effectiveness.
In the present embodiment, the reductor 251 that described first rotating driving device 24 and the second rotating driving device 25 include the 3rd servomotor 241 and be connected with the main shaft of the 3rd servomotor 241, reductor 251 can work to the 3rd servomotor 241 time rotating speed carry out variable-speed processing, manufacturing schedule and the production frequency of relevant production line is coordinated according to the occasion of application, need the rotating speed of the main shaft being controlled the 3rd servomotor 241 by reductor 251, to realize the servo of the rotation of control first cantilever 21 and the second cantilever 22, reasonable in design, practical; Reductor 251 in the present embodiment can adopt common reductor 251.
In the present embodiment, the top of described second cantilever 22 is covered with shell 28, first servomotor 26 and the second servomotor 27 are all positioned at shell 28, the main shaft of the first servomotor 26 is connected with the first pinion 261, the main shaft of the second servomotor 27 connects the second pinion 271, and the first pinion 261 is arranged with the first belt 263, second pinion 271 is arranged with the second belt 273, by the design of shell 28, guarantee that four axis robot 2 that screw mandrel 23 improves are when being applied to the comparatively severe occasion of environment, the impact of dust and other impurities can not be subject to, ensure that four axis robot 2 that the screw mandrel 23 of the technical program is improved can GPS survey quality, high efficiency work.
Preferably, described dustproof steel belt 14 is soft dustproof steel belt, soft materials prevent steel band good toughness, the resistance of working slider 12 in rectilinear movement process can be reduced; Meanwhile, also guarantee dustproof steel belt 14 and adhesive strong magnet 121, to seal the magnetic absorption effect of magnetic stripe 15 better, further strengthen the dust-proof effect of the single-shaft mechanical arm 1 of the technical program.
embodiment two.
The difference of the present embodiment and embodiment one is, described reductor 251 is harmonic wave speed reducing machine; It is high that harmonic wave speed reducing machine has bearing capacity, and gearratio is large, and volume is little, lightweight, and transmission efficiency is high, the life-span is long, and stable drive, nothing are impacted, noiselessness, the advantage that kinematic accuracy is high; Guarantee the first rotating driving device 24 to the rotation control effects of the first cantilever 21 and the rotation control effects of the second rotating driving device 25 to the second cantilever 22 better.
The remainder of the present embodiment is identical with embodiment one, in the present embodiment unaccounted feature, all adopts the explanation of embodiment one, no longer repeats here.
Known the utility model is have above-described good characteristic in sum, is made it in use, promotes in conventional art the usefulness that do not have and has practicality, becoming the product that has practical value.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (10)
1. production line system high-speed robot, comprise single-shaft mechanical arm (1), single-shaft mechanical arm (1) comprises base (10), linear slide rail (11) and working slider (12), the end of base (10) is provided with end cap (101), the side of base (10) is provided with side cover (102), the guide rail (111) of linear slide rail (11) is fixedly installed in the both sides in base (10), working slider (12) is connected with the slide block (121) of linear slide rail (11), the linear electric motors (13) for driving working slider (12) movement are provided with in base (10), it is characterized in that: the top of described working slider (12) is provided with four axis robot (2), four axis robot (2) comprise mount pad (20), first cantilever (21), second cantilever (22) and screw mandrel (23), mount pad (20) is fixedly connected with working slider (12), mount pad (20) is provided with the first rotating driving device (24), the top driving with this first rotating driving device (24) that the first end of the first cantilever (21) is positioned at mount pad (20) is connected, the first end of the second cantilever (22) is provided with the second rotating driving device (25), the below driving with the second rotating driving device (25) that second end of the first cantilever (21) is positioned at the first end of the second cantilever (22) is connected, screw mandrel (23) is arranged in the second end of the second cantilever (22), second cantilever (22) is provided with the first servomotor (26) and the second servomotor (27), the main shaft of the first servomotor (26) is connected with the first pinion (261), the main shaft of the second servomotor (27) is connected with the second pinion (271), screw mandrel (23) is bolted with travelling nut (264) and ball spline (274), travelling nut (264) is fixedly connected with first gear (262), ball spline (274) is fixedly connected with second largest gear (272), first gear (262) and second largest gear (272) are all sheathed on screw mandrel (23) outward, first pinion (261) is connected by the first belt (263) winding with first gear (262), and the second pinion (271) is connected by the second belt (273) winding with second largest gear (272).
2. production line system high-speed robot according to claim 1, it is characterized in that: the top of described base (10) is provided with dustproof steel belt (14), working slider (12) is provided with adhesive strong magnet (121), dustproof steel belt (14) is covered on two side covers (102) and two end cap (101), dustproof steel belt (14) fits in the surface of working slider (12) and is connected with adhesive strong magnet (121) magnetic absorption, and dustproof steel belt (14) and base (10), two side covers (102), two end cap (101) form a space sealed.
3. production line system high-speed robot according to claim 2, it is characterized in that: described side cover (102) comprises interconnective perpendicular folding part (1021) and cross break portion (1022), perpendicular folding part (1021) is connected with the side of base (10), cross break portion (1022) extends towards base (10) inner side, and dustproof steel belt (14) is covered on two side covers (102) and is fitted and connected with cross break portion (1022).
4. production line system high-speed robot according to claim 3, it is characterized in that: the cross break portion (1022) of described side cover (102) offers groove (1023), have sealing magnetic stripe (15) in groove (1023), dustproof steel belt (14) is connected with sealing magnetic stripe (15) magnetic absorption.
5. production line system high-speed robot according to claim 2, is characterized in that: described working slider (12) is provided with inclined-plane (122) towards movable direction, and adhesive strong magnet (121) is installed on this inclined-plane (122).
6. production line system high-speed robot according to claim 2, is characterized in that: the two ends of described dustproof steel belt (14) are fixedly connected on two end cap (101) by press strip (17) pressing.
7. production line system high-speed robot according to claim 2, it is characterized in that: described linear electric motors (13) comprise electric mover (131) and motor stator (132), motor stator (132) is fixedly installed in base (10), and electric mover (131) is fixedly connected with working slider (12).
8. production line system high-speed robot according to claim 1, is characterized in that: the reductor (251) that described first rotating driving device (24) and the second rotating driving device (25) include the 3rd servomotor (241) and be connected with the main shaft of the 3rd servomotor (241).
9. production line system high-speed robot according to claim 8, is characterized in that: described reductor (251) is harmonic wave speed reducing machine.
10. production line system high-speed robot according to claim 1, is characterized in that: the top of described second cantilever (22) is covered with shell (28), and the first servomotor (26) and the second servomotor (27) are all positioned at shell (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420709673.XU CN204322080U (en) | 2014-11-24 | 2014-11-24 | Production line system high-speed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420709673.XU CN204322080U (en) | 2014-11-24 | 2014-11-24 | Production line system high-speed robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204322080U true CN204322080U (en) | 2015-05-13 |
Family
ID=53158483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420709673.XU Withdrawn - After Issue CN204322080U (en) | 2014-11-24 | 2014-11-24 | Production line system high-speed robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204322080U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440906A (en) * | 2014-11-24 | 2015-03-25 | 东莞市智赢智能装备有限公司 | High-speed robot for production assembly line system |
| CN107414452A (en) * | 2017-08-08 | 2017-12-01 | 珠海格力智能装备有限公司 | Battery cover assembles device and assembly method |
| CN109249405A (en) * | 2018-10-30 | 2019-01-22 | 哈尔滨工业大学（深圳） | A kind of omnidirectional's big corner high-precision attitude adjustment robot of mobile auxiliary drive |
-
2014
- 2014-11-24 CN CN201420709673.XU patent/CN204322080U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440906A (en) * | 2014-11-24 | 2015-03-25 | 东莞市智赢智能装备有限公司 | High-speed robot for production assembly line system |
| CN104440906B (en) * | 2014-11-24 | 2016-06-01 | 东莞市智赢智能装备有限公司 | Production line system high-speed robot |
| CN107414452A (en) * | 2017-08-08 | 2017-12-01 | 珠海格力智能装备有限公司 | Battery cover assembles device and assembly method |
| CN107414452B (en) * | 2017-08-08 | 2020-04-10 | 珠海格力智能装备有限公司 | Battery cover assembling device and assembling method |
| CN109249405A (en) * | 2018-10-30 | 2019-01-22 | 哈尔滨工业大学（深圳） | A kind of omnidirectional's big corner high-precision attitude adjustment robot of mobile auxiliary drive |
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